/// <summary>
/// Initializes physical robot based off of robot directory.
/// </summary>
/// <param name="directory">folder directory of robot</param>
/// <returns></returns>
public bool InitializeRobot(string directory, MainState source)
{
RobotIsMecanum = false;
if (RobotIsMixAndMatch)
{
wheelPath = RobotTypeManager.WheelPath;
wheelFriction = RobotTypeManager.WheelFriction;
wheelLateralFriction = RobotTypeManager.WheelLateralFriction;
wheelRadius = RobotTypeManager.WheelRadius;
wheelMass = RobotTypeManager.WheelMass;
RobotIsMecanum = RobotTypeManager.IsMecanum;
}
#region Robot Initialization
RobotDirectory = directory;
//Deletes all nodes if any exist, take the old node transforms out from the robot object
int childCount = transform.childCount;
for (int i = childCount - 1; i >= 0; i--)
{
Transform child = transform.GetChild(i);
//If this isn't done, the game object is destroyed but the parent-child transform relationship remains!
child.parent = null;
Destroy(child.gameObject);
}
//Detach and destroy all sensors on the original robot
SensorManager sensorManager = GameObject.Find("SensorManager").GetComponent <SensorManager>();
sensorManager.ResetSensorLists();
//Removes Driver Practice component if it exists
if (dpmRobot != null)
{
Destroy(dpmRobot);
}
mainState = source; //stores the main state object
transform.position = robotStartPosition; //Sets the position of the object to the set spawn point
if (!File.Exists(directory + "\\skeleton.bxdj"))
{
return(false);
}
//Loads the node and skeleton data
RigidNode_Base.NODE_FACTORY = delegate(Guid guid)
{
return(new RigidNode(guid));
};
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
rootNode = BXDJSkeleton.ReadSkeleton(directory + "\\skeleton.bxdj");
rootNode.ListAllNodes(nodes);
//Initializes the wheel variables
int numWheels = nodes.Count(x => x.HasDriverMeta <WheelDriverMeta>() && x.GetDriverMeta <WheelDriverMeta>().type != WheelType.NOT_A_WHEEL);
float collectiveMass = 0f;
//Initializes the nodes and creates joints for the robot
if (RobotIsMixAndMatch && !RobotIsMecanum) //If the user is in MaM and the robot they select is not mecanum, create the nodes and replace the wheel meshes to match those selected
{
//Load Node_0, the base of the robot
RigidNode node = (RigidNode)nodes[0];
node.CreateTransform(transform);
if (!node.CreateMesh(directory + "\\" + node.ModelFileName, true, wheelMass))
{
Debug.Log("Robot not loaded!");
return(false);
}
node.CreateJoint(numWheels, RobotIsMixAndMatch);
if (node.PhysicalProperties != null)
{
collectiveMass += node.PhysicalProperties.mass;
}
if (node.MainObject.GetComponent <BRigidBody>() != null)
{
node.MainObject.AddComponent <Tracker>().Trace = true;
}
//Get the wheel mesh data from the file they are stored in. They are stored as .bxda files. This may need to update if exporters/file types change.
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(wheelPath + "\\node_0.bxda");
List <Mesh> meshList = new List <Mesh>();
List <Material[]> materialList = new List <Material[]>();
RigidNode wheelNode = (RigidNode)BXDJSkeleton.ReadSkeleton(wheelPath + "\\skeleton.bxdj");
Material[] materials = new Material[0];
AuxFunctions.ReadMeshSet(mesh.meshes, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
meshList.Add(meshu);
materials = new Material[meshu.subMeshCount];
for (int i = 0; i < materials.Length; i++)
{
materials[i] = sub.surfaces[i].AsMaterial(true);
}
materialList.Add(materials);
}, true);
//Loads the other nodes from the original robot
for (int i = 1; i < nodes.Count; i++)
{
node = (RigidNode)nodes[i];
node.CreateTransform(transform);
if (!node.CreateMesh(directory + "\\" + node.ModelFileName, true, wheelMass))
{
Debug.Log("Robot not loaded!");
return(false);
}
//If the node is a wheel, destroy the original wheel mesh and replace it with the wheels selected in MaM
if (node.HasDriverMeta <WheelDriverMeta>())
{
int chldCount = node.MainObject.transform.childCount;
for (int j = 0; j < chldCount; j++)
{
Destroy(node.MainObject.transform.GetChild(j).gameObject);
}
int k = 0;
Vector3?offset = null;
foreach (Mesh meshObject in meshList)
{
GameObject meshObj = new GameObject(node.MainObject.name + "_mesh");
meshObj.transform.parent = node.MainObject.transform;
meshObj.AddComponent <MeshFilter>().mesh = meshObject;
if (!offset.HasValue)
{
offset = meshObject.bounds.center;
}
meshObj.transform.localPosition = -offset.Value;
//Take out this line if you want some snazzy pink wheels
meshObj.AddComponent <MeshRenderer>().materials = materialList[k];
k++;
}
node.MainObject.GetComponentInChildren <MeshRenderer>().materials = materials;
}
//Create the joints that interact with physics
node.CreateJoint(numWheels, RobotIsMixAndMatch, wheelFriction, wheelLateralFriction);
if (node.HasDriverMeta <WheelDriverMeta>())
{
node.MainObject.GetComponent <BRaycastWheel>().Radius = wheelRadius;
}
if (node.PhysicalProperties != null)
{
collectiveMass += node.PhysicalProperties.mass;
}
if (node.MainObject.GetComponent <BRigidBody>() != null)
{
node.MainObject.AddComponent <Tracker>().Trace = true;
}
}
}
else //Initialize the robot as normal
{
//Initializes the nodes
foreach (RigidNode_Base n in nodes)
{
RigidNode node = (RigidNode)n;
node.CreateTransform(transform);
if (!node.CreateMesh(directory + "\\" + node.ModelFileName))
{
Debug.Log("Robot not loaded!");
return(false);
}
node.CreateJoint(numWheels, RobotIsMixAndMatch);
if (node.PhysicalProperties != null)
{
collectiveMass += node.PhysicalProperties.mass;
}
if (node.MainObject.GetComponent <BRigidBody>() != null)
{
node.MainObject.AddComponent <Tracker>().Trace = true;
}
}
}
#endregion
//Get the offset from the first node to the robot for new robot start position calculation
//This line is CRITICAL to new reset position accuracy! DON'T DELETE IT!
nodeToRobotOffset = gameObject.transform.GetChild(0).localPosition - robotStartPosition;
foreach (BRaycastRobot r in GetComponentsInChildren <BRaycastRobot>())
{
r.RaycastRobot.OverrideMass = collectiveMass;
r.RaycastRobot.RootRigidBody = (RigidBody)((RigidNode)nodes[0]).MainObject.GetComponent <BRigidBody>().GetCollisionObject();
}
RotateRobot(robotStartOrientation);
RobotName = new DirectoryInfo(directory).Name;
isInitialized = true;
//Initializes Driver Practice component
dpmRobot = gameObject.AddComponent <DriverPracticeRobot>();
dpmRobot.Initialize(directory);
//Initializing robot cameras
bool hasRobotCamera = false;
//If you are getting an error referencing this line, it is likely that the Game Object "RobotCameraList" in Scene.unity does not have the RobotCameraManager script attached to it.
robotCameraManager = GameObject.Find("RobotCameraList").GetComponent <RobotCameraManager>();
//Loop through robotCameraList and check if any existing camera should attach to this robot
foreach (GameObject robotCamera in robotCameraManager.GetRobotCameraList())
{
if (robotCamera.GetComponent <RobotCamera>().robot.Equals(this))
{
//Recover the robot camera configurations
robotCamera.GetComponent <RobotCamera>().RecoverConfiguration();
hasRobotCamera = true;
}
}
//Add new cameras to the robot if there is none robot camera belong to the current robot (which means it is a new robot)
if (!hasRobotCamera)
{
//Attached to the main frame and face the front
robotCameraManager.AddCamera(this, transform.GetChild(0).transform, new Vector3(0, 0.5f, 0), new Vector3(0, 0, 0));
////Attached to main frame and face the back
robotCameraManager.AddCamera(this, transform.GetChild(0).transform, new Vector3(0, 0.5f, 0), new Vector3(0, 180, 0));
robotCameraManager.AddCamera(this, transform.GetChild(0).transform);
}
//Reads the offset position for the manipulator
if (RobotIsMixAndMatch)
{
offset = Vector3.zero;
try
{
using (TextReader reader = File.OpenText(directory + "\\position.txt"))
{
offset.x = float.Parse(reader.ReadLine());
offset.y = float.Parse(reader.ReadLine());
offset.z = float.Parse(reader.ReadLine());
}
} catch
{
offset = Vector3.zero;
}
}
return(true);
}
/// <summary>
/// Initializes physical robot based off of robot directory.
/// </summary>
/// <param name="directory">folder directory of robot</param>
/// <returns></returns>
public bool InitializeRobot(string directory, MainState source)
{
#region Robot Initialization
RobotDirectory = directory;
//Deletes all nodes if any exist, take the old node transforms out from the robot object
int childCount = transform.childCount;
for (int i = childCount - 1; i >= 0; i--)
{
Transform child = transform.GetChild(i);
//If this isn't done, the game object is destroyed but the parent-child transform relationship remains!
child.parent = null;
Destroy(child.gameObject);
}
//Detach and destroy all sensors on the original robot
SensorManager sensorManager = GameObject.Find("SensorManager").GetComponent <SensorManager>();
sensorManager.ResetSensorLists();
//Removes Driver Practice component if it exists
if (dpmRobot != null)
{
Destroy(dpmRobot);
}
mainState = source; //stores the main state object
transform.position = robotStartPosition; //Sets the position of the object to the set spawn point
if (!File.Exists(directory + "\\skeleton.bxdj"))
{
return(false);
}
//Loads the node and skeleton data
RigidNode_Base.NODE_FACTORY = delegate(Guid guid)
{
return(new RigidNode(guid));
};
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
rootNode = BXDJSkeleton.ReadSkeleton(directory + "\\skeleton.bxdj");
rootNode.ListAllNodes(nodes);
//Initializes the wheel variables
int numWheels = nodes.Count(x => x.HasDriverMeta <WheelDriverMeta>() && x.GetDriverMeta <WheelDriverMeta>().type != WheelType.NOT_A_WHEEL);
float collectiveMass = 0f;
int isMixAndMatch = PlayerPrefs.GetInt("mixAndMatch");
if (isMixAndMatch == 1 && !MixAndMatchMode.isMecanum)
{
//Load Node_0
RigidNode node = (RigidNode)nodes[0];
node.CreateTransform(transform);
if (!node.CreateMesh(directory + "\\" + node.ModelFileName))
{
Debug.Log("Robot not loaded!");
return(false);
}
node.CreateJoint(numWheels);
if (node.PhysicalProperties != null)
{
collectiveMass += node.PhysicalProperties.mass;
}
if (node.MainObject.GetComponent <BRigidBody>() != null)
{
node.MainObject.AddComponent <Tracker>().Trace = true;
}
//Load the other nodes (wheels)
string wheelDirectory = PlayerPrefs.GetString("simSelectedWheel");
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(wheelDirectory + "\\node_0.bxda");
List <Mesh> meshList = new List <Mesh>();
List <Material[]> materialList = new List <Material[]>();
RigidNode wheelNode = (RigidNode)BXDJSkeleton.ReadSkeleton(wheelDirectory + "\\skeleton.bxdj");
Material[] materials = new Material[0];
AuxFunctions.ReadMeshSet(mesh.meshes, delegate(int id, BXDAMesh.BXDASubMesh sub, Mesh meshu)
{
meshList.Add(meshu);
materials = new Material[meshu.subMeshCount];
for (int i = 0; i < materials.Length; i++)
{
materials[i] = sub.surfaces[i].AsMaterial(true);
}
materialList.Add(materials);
//meshObject.GetComponent<MeshRenderer>().materials = materials;
}, true);
for (int i = 1; i < nodes.Count; i++)
{
node = (RigidNode)nodes[i];
node.CreateTransform(transform);
if (!node.CreateMesh(directory + "\\" + node.ModelFileName))
{
Debug.Log("Robot not loaded!");
return(false);
}
if (node.HasDriverMeta <WheelDriverMeta>())
{
int chldCount = node.MainObject.transform.childCount;
for (int j = 0; j < chldCount; j++)
{
Destroy(node.MainObject.transform.GetChild(j).gameObject);
}
int k = 0;
foreach (Mesh meshObject in meshList)
{
Debug.Log("Mesh Object" + meshObject);
GameObject meshObj = new GameObject(node.MainObject.name + "_mesh");
meshObj.transform.parent = node.MainObject.transform;
meshObj.AddComponent <MeshFilter>().mesh = meshObject;
meshObj.transform.localPosition = -meshObject.bounds.center;
//Take out this line if you want some snazzy pink wheels
meshObj.AddComponent <MeshRenderer>().materials = materialList[k];
k++;
}
node.MainObject.GetComponentInChildren <MeshRenderer>().materials = materials;
}
//node.MainObject.transform.GetChild(0).localPosition = -node.MainObject.GetComponentInChildren<MeshFilter>().mesh.bounds.center;// -node.MainObject.transform.localPosition;
//Bounds b = node.MainObject.GetComponentInChildren<MeshFilter>().mesh.bounds;
// Debug.Log(b.center);
//b.center = node.MainObject.transform.position;
//node.MainObject.GetComponentInChildren<MeshFilter>().mesh.bounds = b;
node.CreateJoint(numWheels);
if (node.HasDriverMeta <WheelDriverMeta>())
{
float radius = PlayerPrefs.GetFloat("wheelRadius");
node.MainObject.GetComponent <BRaycastWheel>().Radius = radius;
}
if (node.PhysicalProperties != null)
{
collectiveMass += node.PhysicalProperties.mass;
}
if (node.MainObject.GetComponent <BRigidBody>() != null)
{
node.MainObject.AddComponent <Tracker>().Trace = true;
}
}
}
else
{
//Initializes the nodes
foreach (RigidNode_Base n in nodes)
{
RigidNode node = (RigidNode)n;
node.CreateTransform(transform);
if (!node.CreateMesh(directory + "\\" + node.ModelFileName))
{
Debug.Log("Robot not loaded!");
return(false);
}
node.CreateJoint(numWheels);
if (node.PhysicalProperties != null)
{
collectiveMass += node.PhysicalProperties.mass;
}
if (node.MainObject.GetComponent <BRigidBody>() != null)
{
node.MainObject.AddComponent <Tracker>().Trace = true;
}
}
}
#endregion
//Get the offset from the first node to the robot for new robot start position calculation
//This line is CRITICAL to new reset position accuracy! DON'T DELETE IT!
nodeToRobotOffset = gameObject.transform.GetChild(0).localPosition - robotStartPosition;
foreach (BRaycastRobot r in GetComponentsInChildren <BRaycastRobot>())
{
r.RaycastRobot.OverrideMass = collectiveMass;
r.RaycastRobot.RootRigidBody = (RigidBody)((RigidNode)nodes[0]).MainObject.GetComponent <BRigidBody>().GetCollisionObject();
}
RotateRobot(robotStartOrientation);
RobotName = new DirectoryInfo(directory).Name;
isInitialized = true;
//Initializes Driver Practice component
dpmRobot = gameObject.AddComponent <DriverPracticeRobot>();
dpmRobot.Initialize(directory);
//Initializing robot cameras
bool hasRobotCamera = false;
//If you are getting an error referencing this line, it is likely that the Game Object "RobotCameraList" in Scene.unity does not have the RobotCameraManager script attached to it.
robotCameraManager = GameObject.Find("RobotCameraList").GetComponent <RobotCameraManager>();
//Loop through robotCameraList and check if any existing camera should attach to this robot
foreach (GameObject robotCamera in robotCameraManager.GetRobotCameraList())
{
if (robotCamera.GetComponent <RobotCamera>().robot.Equals(this))
{
//Recover the robot camera configurations
robotCamera.GetComponent <RobotCamera>().RecoverConfiguration();
hasRobotCamera = true;
}
}
//Add new cameras to the robot if there is none robot camera belong to the current robot (which means it is a new robot)
if (!hasRobotCamera)
{
//Attached to the main frame and face the front
robotCameraManager.AddCamera(this, transform.GetChild(0).transform);
//Attached to the first node and face the front
if (transform.childCount > 1)
{
robotCameraManager.AddCamera(this, transform.GetChild(1).transform);
}
////Attached to main frame and face the back
robotCameraManager.AddCamera(this, transform.GetChild(0).transform, new Vector3(0, 0, 0), new Vector3(0, 180, 0));
}
return(true);
}